제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Attitude Compensation of Low-cost IMU Using Single Antenna GPS and Accelerometers

단일 안테나 GPS와 가속도계를 이용한 저급 IMU의 자세 보정

  • 조성윤 (광운대학교 제어계측공학과) ;
  • 문성재 (광운대학교 제어계측공학과) ;
  • 진용 (광운대학교 제어계측공학과) ;
  • 박찬국 (광운대학교 제어계측공학과) ;
  • 지규인 (건국대학교 전자정보통신공학과) ;
  • 이영재 (건국대학교 항공우주공학과)
  • Published : 2000.10.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, the error compensation method of the attitude reference system with low-cost IMU is proposed. In general, the attitude error calculated by gyro grows with time. Therefore the additional information is required to compensate the drift. The attitude angles can be bound by accelerometer mixing algorithm and the heading angle can be aided by GPS velocity information. The Kalman filter is used for error compensation. The result is verified by comparing with the attitude calculated by medium-grade IMU, LP-81.

Keywords